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Frequency domain control design methods
Problem. Consider the DC motor from HW1, now with the parameters
(the difference is hat La = 0 now). The requirements remain the same:• an integral action in R(s),• high-frequency roll-off of at least 1 for R(s),• µm ≥ 0:5 <=> |S.jω| ≤ 2 for all ω,• |Tc(jω)| ≤ 1 for all ω.
Using the H∞ loop-shaping procedure, design a controller satisfying these requirements. Try to maximize the resulting crossover frequency ωc. Explain your design choices.
Besides a brief file with explanations, submit a MyName.mat (with your name in place of "MyName") file having LTI 3 systems in it:• the plant, named G• the controller, named R• the final weight used in the design, named W
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